function xstCOMFn = stCOMFn(x)
xstCOMFn = (12759122123*sin(x(1)) + 14065902578*sin(x(1) + x(2)) +  ...
  3492465000*sin(x(1) + x(2) + x(3)) -  ...
  1637194622*sin(x(1) + x(2) + x(3) - x(4)) -  ...
  457593477*sin(x(1) + x(2) + x(3) - x(4) - x(5)))/ ...
 (-12759122123*cos(x(1)) - 14065902578*cos(x(1) + x(2)) -  ...
  3492465000*cos(x(1) + x(2) + x(3)) +  ...
  1637194622*cos(x(1) + x(2) + x(3) - x(4)) +  ...
  457593477*cos(x(1) + x(2) + x(3) - x(4) - x(5))) ...
;